Method and device for controlling an acoustic warning system for an automated vehicle

Abstract

The present invention relates to a method for controlling an acoustic warning system of an automated vehicle, the method being implemented by a processor and comprising the following steps: - receiving (31) first data representative of an environment near the automated vehicle; - receiving (32) second data representative of information indicating the imminent movement of the automated vehicle; and - transmitting (33) third data representative of a command to activate the acoustic warning system of the automated vehicle to a controller of the acoustic warning system of the automated vehicle, the transmission being triggered by the reception of the first and second data. Figure for the abstract: Figure 3

Description

Title of the invention: Method and device for controlling an acoustic warning system of an automated vehicle Technical field

[0001] The invention relates to methods and devices for controlling an acoustic warning system of an automated vehicle, particularly but not exclusively an automated electric or hybrid motor vehicle. The invention also relates to a method and a device for controlling the activation and / or deactivation of an acoustic warning device of an automated vehicle. Technological background

[0002] Technological advancements in the field of vehicles have led to the development of fully automated vehicles. These vehicles, classified as belonging to advanced levels of ADAS (Advanced Driver Assistance Systems), are gradually eliminating the need for human intervention in driving. At high levels of autonomy, the vehicle manages all critical operations, including detecting its environment, making decisions, and executing maneuvers, without direct driver intervention.

[0003] In parallel, the ECE R138 standard requires that all new type-approved electric or hybrid vehicles be equipped with an Audible Vehicle Alerting System (AVAS) if they fail to reach a minimum required noise level. This regulation aims to address the problem of insufficient noise levels, inherent to these types of vehicles, in order to ensure greater safety for vulnerable road users, such as pedestrians and cyclists. The AVAS is designed to emit an artificial sound when the vehicle is traveling at low speeds, generally between 0 and 20 km / h, a threshold below which aerodynamic and tire noise are insufficient to signal the vehicle's presence. This requirement is part of an effort to make vehicles more audibly perceptible, with the goal of preventing accidents related to their particularly quiet operation.

[0004] However, while meeting the need for warnings during low-speed phases, such a system does not address situations where the vehicle is stationary but could start moving again, particularly in dense urban environments or near pedestrian crossings. Indeed, the absence of such an audible warning during this phase limits the ability of vulnerable road users in the vehicle's vicinity to anticipate any potential vehicle movement, thus increasing the risk of dangerous situations.

[0005] In the case of automated vehicles, in the absence of a visible driver, vulnerable road users cannot rely on usual visual cues, such as gestures, glances, or other forms of human interaction, to assess the vehicle's intentions. Therefore, it is all the more important to be able to signal to nearby road users any imminent movement of the vehicle. Summary of the present invention

[0006] An object of the present invention is to solve at least one of the technological background problems described above.

[0007] According to a first aspect, the present invention relates to a method for controlling an acoustic warning system of an automated vehicle, the method being implemented by a processor and comprising the following steps: - receiving initial data representative of an environment close to the automated vehicle; - receipt of second data points indicating imminent movement of the automated vehicle; and - transmission of third data representing an activation command of the automated vehicle's acoustic warning system to a controller of the automated vehicle's acoustic warning system, the transmission being triggered by the reception of said first and second data.

[0008] Receiving information about the immediate surroundings of the automated vehicle makes it possible to detect the actual presence of vulnerable road users around the automated vehicle, or that the automated vehicle is located in an area likely to have a significant number of vulnerable road users. Information indicating imminent movement automatically triggers the activation of the automated vehicle's audible warning system, even if the automated vehicle has not yet begun moving forward or backward. A road user located in the immediate vicinity of the automated vehicle is warned in advance that the automated vehicle is about to begin moving, thus improving the safety of road users around the automated vehicle.

[0009] According to one variant, the first data may be representative of a detection of the presence of a person or a pedestrian crossing at a distance from the automated vehicle less than a threshold.

[0010] According to one variant, the threshold may correspond to a distance equal to 2 meters.

[0011] According to one variant, the first data may be representative of a position current of the automated vehicle within a geographical area.

[0012] According to one variant, the geographical area may correspond to a passenger station defined by geographical coordinates.

[0013] According to one variant, the second data may include information representative of a programmed schedule for starting said automated vehicle.

[0014] According to a second aspect, the present invention relates to an acoustic warning system for an automated vehicle, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0015] According to a third aspect, the present invention relates to an automated vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention.

[0016] According to a fourth aspect, the present invention relates to a computer program which includes instructions adapted for carrying out the steps of the process according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0017] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate form between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0018] According to a fifth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

[0019] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0020] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0021] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0022] Other features and advantages of the present invention will become apparent from the description of the specific and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 3, in which:

[0023] [Fig. 1] schematically illustrates a road environment comprising an automated vehicle equipped with an acoustic warning system, according to a particular embodiment of the present invention;

[0024] [Fig.2] illustrates a device configured to control the acoustic warning system of the automated vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention.

[0025] [Fig. 3] illustrates a flowchart of the different steps in a method for controlling the acoustic warning system of the automated vehicle of [Fig. 1], according to a particular and non-limiting embodiment of the present invention. Description of embodiment examples

[0026] A method and a control device for an acoustic warning system of an automated vehicle will now be described in what follows with joint reference to Figures 1 to 3. The same elements are identified with the same reference signs throughout the description that follows.

[0027] The terms "first," "second" (or "firsts," "seconds"), etc., are used in this document by arbitrary convention to allow for the identification and distinction of different elements (such as operations, means, etc.) implemented in the embodiments described below. Such elements may be distinct or correspond to a single element, depending on the embodiment.

[0028] According to a particular and non-limiting example of an embodiment of the present invention, the control of an acoustic warning system is implemented by one or more computers of the automated vehicle, in particular by one or more processors of this or these computers.

[0029] Initial data representing the environment surrounding the automated vehicle are obtained, for example, from one or more onboard sensors of the automated vehicle. This initial data indicates, for example, the presence of a vulnerable road user in the vicinity of the automated vehicle, or that the automated vehicle is located in a geographical area with a high density of vulnerable road users, such as a drop-off and pick-up point for autonomous vehicles, for example, near a train station or airport. Second data representing information about the imminent movement of the automated vehicle are received from an automated control system of the automated vehicle. This second data corresponds, for example, to a time signal indicating the upcoming start of the automated vehicle. This second data is obtained, for example, from a control system automated vehicle. Following the reception of the first and second data, third data representing a command to activate the acoustic warning system are transmitted to a controller of the acoustic warning system, for example to activate the emission of a sound by the external speakers of the automated vehicle.

[0030] Fig. 1 illustrates a road environment 1 in which the automated vehicle 10 travels, according to a particular and non-limiting embodiment of the present invention.

[0031] The road environment of [Fig.1] includes an automated vehicle 10.

[0032] An automated vehicle is defined as a vehicle equipped with a sophisticated driver assistance system that ensures vehicle control and is capable of operating in its road environment without driver intervention or under the control of a person not involved in driving the automated vehicle, except in emergencies, for example. A vehicle enabling such autonomous driving must have a level of autonomous driving higher than a certain level out of a total number of levels. For example, the automated vehicle has an autonomy level of 4 or higher out of the 5 levels defined in the classification published by the federal agency responsible for road safety in the USA, or out of the 6 levels defined in the classification published by the international organization of motor vehicle manufacturers, which comprises 6 levels.According to one embodiment, the automated vehicle 10 has an autonomy level greater than or equal to 3 out of the 5 or 6 levels provided for in the two classifications mentioned above.

[0033] The automated vehicle 10 corresponds, for example, to a vehicle with electric motor(s) or a hybrid vehicle with a combustion engine and one or more electric motors. The automated vehicle 10 thus corresponds, for example, to a land vehicle, such as a car, a truck, a bus, or an autonomous shuttle.

[0034] According to one embodiment, the automated vehicle 10 corresponds to an autonomous taxi, for example with a hybrid or electric motor. An autonomous taxi can transport one or more passengers to a destination chosen by them.

[0035] According to another embodiment, the automated vehicle 10 corresponds to an autonomous shuttle, for example with a hybrid or electric motor. Such an autonomous shuttle is configured to follow a predetermined route with stops along the way to pick up one or more passengers.

[0036] The automated vehicle 10 also corresponds, for example, to a so-called connected vehicle, that is to say, an automated vehicle configured to communicate (transmit and receive) data using a wireless communication method, by for example, via a wireless network infrastructure or through a direct communication method.

[0037] For this purpose, the automated vehicle 10 includes a communication system or interface comprising, for example, one or more communication antennas connected to a telematic control unit, called a TCU (Telematic Control Unit), itself connected to one or more computers of the embedded system of the automated vehicle 10. The antenna(s), the TCU and the computer(s) form, for example, a multiplexed architecture for the implementation of various services useful for the proper functioning of the automated vehicle 10.The computer(s) and the TCU communicate and exchange data with each other via one or more computer buses, for example a CAN (Controller Area Network), CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (according to ISO 17458) or Ethernet (according to ISO / IEC 802-3) type communication bus.

[0038] The automated vehicle 10 further includes a geolocation system receiver enabling the automated vehicle 10 to obtain data representative of its geographic position at any time, for example in the form of coordinates (latitude and longitude), via a satellite link with a set of satellites. The geolocation system corresponds, for example, to a GPS (Global Positioning System), Galileo, or GLONASS type system. The geographic position obtained from a geolocation system is said to be absolute in that the coordinates are expressed in the same frame of reference for each vehicle, namely the world frame of reference.

[0039] The movement of the automated vehicle 10 is further controlled based on data obtained from environmental perception sensors on board the automated vehicle 10, such as, for example: - one or more millimeter-wave radars arranged on the automated vehicle 10, for example at the front, at the rear, on each front / rear corner of the vehicle; each radar is adapted to emit electromagnetic waves and to receive the echoes of these waves reflected by one or more objects, in order to detect obstacles and their distances from the automated vehicle 10; and / or - one or more LIDAR(s) (from the English "Light Detection And Ranging", or "Light Detection and Distance Estimation" in French), a LIDAR sensor corresponding to an optoelectronic system composed of a laser emitter device, a receiver device including a light collector (to collect the portion of the light radiation emitted by the emitter and reflected by any object located on the path of the light rays emitted by the emitter) and a photodetector that transforms the collected light into an electrical signal; a LIDAR sensor thus makes it possible to detect the presence of objects located in the emitted light beam and to measure the distance between the sensor and each detected object; and / or - one or more cameras (associated or not with a depth sensor) for the acquisition of one or more images of the environment around the automated vehicle 10 located in the field of vision of the camera(s).

[0040] The automated vehicle 10 includes, in particular, one or more driver assistance systems, known as ADAS (Advanced Driver-Assistance System), including an acoustic vehicle warning system known as AVAS (Acoustic Vehicle Alerting System). Such an AVAS system generates artificial sounds on electric or hybrid vehicles, particularly at low speeds, to alert vulnerable road users (pedestrians, cyclists, scooter or Segway users) in the immediate vicinity of the automated vehicle 10 and to simulate the same noise level as a combustion engine vehicle. The AVAS system may include one or more speed sensors to determine vehicle speed. The AVAS system also includes one or more external loudspeakers configured to emit an artificial sound.

[0041] The AVAS system uses speed sensors to detect the speed of the automated vehicle 10 between 0 and 20 km / h, and generates an artificial sound when the automated vehicle 10 is traveling within this speed range. Above 20 km / h, the rolling noise caused by the movement of the automated vehicle 10 is sufficient to alert vulnerable road users to its presence.

[0042] The road environment 1 according to [Fig.1] includes an intersection between two traffic lanes, and the automated vehicle 10 is stopped on one of the traffic lanes.

[0043] The road environment 1 may also include one or more vulnerable users located around the automated vehicle 10, for example a pedestrian 11 moving on a sidewalk, or for example a cyclist 12, travelling on the same traffic lane as the car 10 or on another traffic lane of the road environment 1.

[0044] According to an example illustrated by [Fig.1], the automated vehicle 10 is stopped at a pedestrian crossing located on its traffic lane.

[0045] A control process for an acoustic warning system is implemented by one or more computers of the automated vehicle 10, in particular by one or more processors of this or these computers.

[0046] In a first step of the process, initial representative data of an environment near the automated vehicle 10 are obtained. This initial data may come, for example, from one or more onboard sensors of the automated vehicle 10, for example from one or more perception sensors of the automated vehicle 10. According to another example, the data may come from a geolocation system of the automated vehicle 10 and the automated driving system of the automated vehicle 10.

[0047] According to one embodiment, the initial data may represent the detection of the presence of a person or a pedestrian crossing at a distance from the automated vehicle 10 that is less than a threshold. For example, this initial data may be received from sensors on the automated vehicle 10, for example one or more radar sensors, and / or one or more LIDAR sensors, and / or a video camera.

[0048] The perception sensors of the automated vehicle detect surrounding obstacles and enable the autonomous movement of the automated vehicle 10 on a navigation route by adapting the behavior of the automated vehicle 10.

[0049] The automated vehicle 10 thus detects the presence of vulnerable users in its immediate environment, or the presence of a pedestrian crossing on which a vulnerable user may want to enter.

[0050] According to one variant, the threshold may correspond to a distance of 2 meters. The sound signal broadcast by the vehicle's external loudspeaker(s) may not be heard beyond a few meters; the threshold prevents the sound signal from being broadcast if no vulnerable road user is near the automated vehicle 10, thus reducing the energy consumption of the automated vehicle's acoustic warning system 10.

[0051] According to one embodiment, the initial data may represent the current position of the automated vehicle 10 within a geographical area. The initial data may, for example, correspond to the combination of the current position of the automated vehicle 10, received from the vehicle's geolocation system, and mapping data indicating specific geographical areas. Thus, the computer(s) of the automated vehicle 10 determine whether the automated vehicle 10 is present in a specific geographical area, for example, a parking lot or a tourist area with a high density of vulnerable users.

[0052] According to one variant, the geographical area may correspond to a passenger station defined by geographical coordinates.

[0053] A passenger station refers to a place or infrastructure dedicated to facilitating interaction between passengers and automated vehicles, for example, the automated vehicle 10. For example, the passenger station may correspond to a pick-up point for picking up and dropping off passengers for an autonomous shuttle or autonomous taxi, near an airport, train station, or shopping center. This passenger station can be defined by geographic coordinates, allowing the automated driving system of the automated vehicle 10 to associate the current position of the automated vehicle 10 with the geographic coordinates of the passenger station to determine the presence of the automated vehicle 10 when stopped at a passenger station.

[0054] This first operation makes it possible to avoid an activation of the acoustic warning system of the automated vehicle 10 when it is not necessary, for example if the automated vehicle 10 initiates a movement in a road environment 1 without any user within range of the sound signal of the external loudspeaker(s) of the automated vehicle 10.

[0055] In a second operation of the process, second data representing information of imminent movement of the automated vehicle 10 are obtained.

[0056] This second data can be received for example from the automated driving system of the automated vehicle 10, or for example from a remote server connected to the automated vehicle 10 via the wireless communication of the automated vehicle 10 and controlling the automated driving system of the automated vehicle 10.

[0057] According to one variant, the second data may include information representative of a programmed schedule for the movement of the automated vehicle 10.

[0058] For example, an automated vehicle 10 of the autonomous shuttle type can start a navigation route according to a precise schedule. The departure time information makes it possible to anticipate the movement of the automated vehicle 10.

[0059] According to one embodiment, the second data may include information representing a time delay before the automated vehicle 10 starts moving. For example, the automated driving system of an automated vehicle 10 may transmit information indicating that the automated vehicle 10 will start in a few seconds, thus allowing the automated vehicle 10 to be anticipated.

[0060] According to one embodiment, the second data can correspond to information about the automated vehicle 10 taking charge of a passenger. The information that a passenger is boarding the automated vehicle 10, for example at a passenger station, indicates that the automated vehicle 10 is about to start a navigation route following and thus indicates an imminent movement of the automated vehicle 10.

[0061] In a third operation of the process, third data representing an activation command of the acoustic warning system of the automated vehicle 10 are transmitted to a controller of said acoustic warning system of said automated vehicle 10. The transmission is triggered by the reception of the first and second data.

[0062] The transmission of the third data is triggered following the reception of the first and second data, making it possible to avoid activation of the acoustic warning system of the automated vehicle 10 when it is not necessary, for example if the automated vehicle 10 initiates a movement in a road environment 1 without any user within range of the sound signal of the external speaker(s) of the automated vehicle 10.

[0063] The activation command allows the generation of an artificial sound by the acoustic warning system of the automated vehicle 10 to be triggered. The artificial sound can be transmitted by the acoustic warning system to one or more external loudspeakers of the automated vehicle 10.

[0064] The external loudspeaker(s) may be, for example, dynamic, piezoelectric or horn loudspeakers.

[0065] According to one embodiment, the automated vehicle 10 may include one or more external loudspeakers located at the front of the automated vehicle 10, for example behind the front grille, or near the front wheels. The forward position of the external loudspeaker(s) of the automated vehicle 10 makes it possible to warn vulnerable road users located at the front of the automated vehicle 10, and can simulate the sound of an internal combustion engine, which is generally located at the front of vehicles.

[0066] According to another embodiment, the automated vehicle 10 may also include one or more external loudspeakers located at the rear of the automated vehicle 10, allowing the automated vehicle 10 to be signaled when it is moving in reverse.

[0067] According to one embodiment, the artificial sound generated by the acoustic warning system of the automated vehicle 10 can be different, depending on whether the automated vehicle 10 is moving forward or backward. Differentiating the artificial sound according to the type of movement allows a vulnerable user near the automated vehicle 10 to identify the direction of travel of the automated vehicle 10.

[0068] According to one embodiment, the sound level of the artificial sound generated by the acoustic warning system can be in a range of 56 dB to 75 dB. This range corresponds to the sound level range specified in the ECE RI38 standard, making it possible to generate a sound sufficiently audible for users in the immediate vicinity of the automated vehicle 10 without the sound level being too high.

[0069] Figure 2 schematically illustrates a device 2 configured for controlling an acoustic warning system of an automated vehicle, for example the automated vehicle 10, according to particular and non-limiting embodiments of the present invention. The device 2 corresponds, for example, to a device embedded in the automated vehicle 10, for example a computer.

[0070] The device 2 comprises one (or more) processor(s) 20 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in the device 2. The processor 20 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 2 further comprises at least one memory 21, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0071] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is for example stored on memory 21.

[0072] According to various particular and non-limiting embodiments, the device 2 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0073] According to a particular and non-limiting embodiment, the device 2 comprises a block 22 of interface elements for communicating with external devices. The interface elements of the block 22 comprise one or more of the following interfaces: - radio frequency RF interface, for example of the Wi-Fi® type (according to IEEE 802.11), for example in the 2.4 or 5 GHz frequency bands, or of the Bluetooth® type (according to IEEE 802.15.1), in the 2.4 GHz frequency band, or of the Sigfox type using UBN (Ultra Narrow Band) radio technology, or LoRa in the 868 MHz frequency band, LTE (Long-Term Evolution), LTE-Advanced, 5G; - USB interface (from the English "Universal Serial Bus" or "Universal Serial Bus" in French); - HDMI interface (from the English "High Definition Multimedia Interface", or "High Definition Multimedia Interface" in French); - LIN interface (from the English "Local Interconnect Network", or in French "Réseau interconnecté local").

[0074] According to another particular and non-limiting embodiment, the device 2 includes a communication interface 23 which allows communication to be established with other devices (such as other computers in the embedded system) via a communication channel 230. The communication interface 23 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 230. The communication interface 23 corresponds, for example, to a wired LVDS (Low Voltage Differential Signaling) network.

[0075] According to a particular and non-limiting embodiment, the device 2 can provide output signals to one or more external devices, such as a display screen 240, touch or not, one or more speakers 250 and / or other peripherals 260 (projection system) via output interfaces 24, 25 and 26 respectively. According to a variant, one or more of the external devices is integrated into the device 2.

[0076] Figure 3 illustrates a flowchart of the various steps in a method for controlling an acoustic warning system of an automated vehicle operating in a road environment, for example the first automated vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a computer or set of computers of the vehicle or by the device 2 of Figure 2.

[0077] In a first step 31, initial data representative of an environment close to the automated vehicle are received.

[0078] In a second step 32, initial data representing information about the imminent start-up of the automated vehicle are received.

[0079] In a third step 33, third data representing an activation command of the automated vehicle's acoustic warning system are transmitted to a controller of the acoustic warning system, the transmission of the third data being triggered by the reception of the first and second data.

[0080] According to one variant, the variants and examples of the operations described in relation to [Fig.1] apply to the steps of the process in [Fig.3].

[0081] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling an acoustic warning system of an automated vehicle that would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

Claims

Demands

1. A method for controlling an acoustic warning system of an automated vehicle (10), said method being implemented by a processor and comprising the following steps: - receiving (31) first data representing an environment close to said automated vehicle (10); - receiving (32) second data representing information of imminent movement of said automated vehicle (10); and - transmitting (33) third data representing a command to activate the acoustic warning system of said automated vehicle (10) to a controller of said acoustic warning system of said automated vehicle (10), said transmission being triggered by the reception of said first and second data.

2. A method according to claim 1, wherein said first data are representative of a detection of the presence of a person or a pedestrian crossing at a distance from the automated vehicle (10) less than a threshold.

3. Method according to claim 2, wherein said threshold corresponds to a distance equal to 2 meters.

4. A method according to claim 1, wherein said first data are representative of a current position of said automated vehicle (10) within a geographical area.

5. Method according to claim 4, wherein said geographical area corresponds to a passenger station defined by geographical coordinates.

6. A method according to any one of claims 1 to 5, wherein said second data includes information representative of a programmed schedule for starting said automated vehicle (10).

7. Computer program comprising program code instructions for implementing the method according to any one of the preceding claims, when said program is executed by a processor.

8. Computer-readable recording medium on which a computer program comprising instructions is recorded for carrying out the steps of the process according to any one of claims 1 to 6.

9. Control device (2) for an acoustic warning system of an automated vehicle (10), said control device (2) comprising a memory (21) associated with at least one processor (20) configured for carrying out the steps of the method according to any one of claims 1 to 6.

10. Automated vehicle (10) comprising a device (2) according to claim 9.

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